No, you can’t have a camera to film the public space without an authorisation.
Even worse, you have a camera that actually have front side and back side, and you can film with back side and always use plausible deniability and say you were on a video call using your smart camera and not filming around.
I am currently installing cameras and it's difficult because I can't mount it on the house facing out.
That said, as far as I remember legality of this approach was "undecided" in a few places
The problem is using a camera to monitor people. It doesn't matter if the camera is only a live video feed to a TV screen, or you save the files to disk, or you run frames through a script without saving to disk.
Dash cams are also in practice not allowed for the same reasons (license plates, peoples faces).